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WIP: snapshot before repo migration

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FallenSigh
2026-05-27 02:14:33 +08:00
parent aa7ed7cf51
commit ec41ed8a48
51 changed files with 3119 additions and 2015 deletions
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50
jxbeye/lib/FTServo/examples/HLSCL/SyncWriteSpe/SyncWriteSpe.ino Normal file
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#include <SCServo.h>
HLSCL hlscl;
byte ID[2];
s16 Speed[2];
byte ACC[2];
u16 Torque[2];
void setup()
{
//Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
Serial1.begin(1000000);//mega2560
hlscl.pSerial = &Serial1;
delay(1000);
hlscl.WheelMode(1);//舵机ID1切换至恒速模式
hlscl.WheelMode(2);//舵机ID2切换至恒速模式
ID[0] = 1;//舵机ID1
ID[1] = 2;//舵机ID2
ACC[0] = 50;//加速度A=50*8.7deg/s^2
ACC[1] = 50;//加速度A=50*8.7deg/s^2
Torque[0] = 500;//最大扭矩电流T=500*6.5=3250mA
Torque[1] = 500;//最大扭矩电流T=500*6.5=3250mA
}
void loop()
{
//舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=60*0.732=43.92rpm，并保持恒速运行，最大扭矩电流T=500*6.5=3250mA
Speed[0] = 60;
Speed[1] = 60;
hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
delay(5000);
//舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
Speed[0] = 0;
Speed[1] = 0;
hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
delay(2000);
//舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=-60*0.732=-43.92rpm，并保持恒速运行，最大扭矩电流T=500*6.5=3250mA
Speed[0] = -60;
Speed[1] = -60;
hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
delay(5000);
//舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
Speed[0] = 0;
Speed[1] = 0;
hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
delay(2000);
}